EP1126150B1 - Method and device for controlling the smooth running of an internal combustion engine - Google Patents
Method and device for controlling the smooth running of an internal combustion engine Download PDFInfo
- Publication number
- EP1126150B1 EP1126150B1 EP20000125643 EP00125643A EP1126150B1 EP 1126150 B1 EP1126150 B1 EP 1126150B1 EP 20000125643 EP20000125643 EP 20000125643 EP 00125643 A EP00125643 A EP 00125643A EP 1126150 B1 EP1126150 B1 EP 1126150B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- internal combustion
- combustion engine
- controller
- value
- values
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1497—With detection of the mechanical response of the engine
- F02D41/1498—With detection of the mechanical response of the engine measuring engine roughness
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/06—Introducing corrections for particular operating conditions for engine starting or warming up
- F02D41/062—Introducing corrections for particular operating conditions for engine starting or warming up for starting
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1015—Engines misfires
Definitions
- the invention relates to a method and a device for restoring control of an internal combustion engine according to the preambles of the independent claims.
- a method and a device for restraint control of an internal combustion engine are known from DE 33 36 028. There, based on a speed signal, a setpoint and an actual value are formed for each cylinder.
- the individual cylinders are each assigned a controller which, based on the comparison between a cylinder-specific actual value and a common setpoint, predefines a control variable for controlling a quantity-determining actuator. This achieves equality, the torques provided by the individual cylinders.
- the controllers associated with the individual cylinders have at least integral behavior.
- the integral parts are preferably initialized with a fixed value, in particular with the value 0. Starting from this starting value, the integrator values are then determined during operation.
- FIG. 1 shows a block diagram of the device according to the invention.
- FIG. 1 shows the procedure according to the invention on the basis of a block diagram.
- an actuating element is shown that affects the power output of the internal combustion engine.
- This is preferably a solenoid valve or a piezoelectric actuator, which influences the amount of fuel to be injected and / or the start of injection.
- 105 denotes a speed sensor.
- the speed sensor acts on a setpoint input 110 and an actual value input 115 with a speed signal.
- the actual value specification 115 and the setpoint input 110 acts on a first connection point 120 and a second connection point 130. From the connection points 120 and 130, the signal in each case passes to a controller 125 or 135.
- the controller 125 or 135 act on the control element 100 with a corresponding control signal.
- regulators 125 and 135 exchange 140 signals with a default 140.
- the default 140 processes the output of a sensor 150 that detects operating characteristics.
- each controller 100 is shown.
- the invention can also be designed such that each controller and thus each cylinder is assigned an actuating element.
- each controller and thus each cylinder is assigned an actuating element.
- a first and a second controller are shown.
- each cylinder of the internal combustion engine is associated with a controller and an actuating element. This means that there is a controller and an actuating element for each cylinder, or one or more controllers form the control signals for the adjusting elements assigned to the individual cylinders.
- the setpoint input 110 determines, based on the speed N, a setpoint value S for the controllers.
- the actual value specification 115 determines for each controller, i. For each cylinder, a cylinder-individual actual value I. Based on control errors determined in the connection points 120 and 130, the controllers 125 and 135 determine the manipulated variables. With these manipulated variables, the actuator is acted upon.
- the determination of the actual values, the desired values and the control by the regulators 125 and 135 is designed such that the output of the internal combustion engine torque of the individual cylinders is equal, ie each cylinder of the internal combustion engine contributes the same torque to the total torque.
- the scheme is such that all cylinders the same amount of fuel is metered.
- the control is such that all cylinders are made equal in magnitude to characterize the combustion.
- the regulators 125 and / or 135 essentially comprise an integral part.
- the integral component characterizes the deviation of the fuel quantity to be injected of each individual cylinder from the other cylinders.
- the controllers When restarting the internal combustion engine, the controllers are usually initialized, i. the values of the integrators are set with a start value, which usually assumes the value 0. This has the consequence that at the beginning of the operation of the internal combustion engine, a very large deviation from the desired values occurs. Only after a certain time has elapsed do the integrators assume the necessary values which are necessary for the cylinder equalization or for the smooth running control. In order to minimize this delay time, the procedure according to the invention is such that the specification 140 initializes the integrators at the start with predefinable values. That in the integrators certain values, which are stored in the default 140, are written.
- the integral component is initialized with a predefinable value.
- the predefinable value is predefined as a function of operating parameters which are detected by means of sensors 150.
- operating parameters of the internal combustion engine are used.
- Such operating parameters are in particular temperature values.
- the temperature of the internal combustion engine or a variable which characterizes the temperature of the internal combustion engine has proven to be particularly advantageous.
- the temperature of the Cooling water, the fuel and / or the engine oil means are detected by means of a sensor 150.
- the fuel temperature is measured at a suitable point of the fuel system.
- the fuel temperature in a common-rail system in the rail, in the line to the injectors, in the return between the injectors and the low pressure region and / or in the high pressure pump can be measured.
- the engine load is preferably taken into account.
- the torque and / or the injection amount is used.
- the map values are detected within the scope of the application and stored in a memory. It is particularly advantageous if the map values are continuously recalculated and stored accordingly. For example, it may be provided that in the adjusted state, for example when the internal combustion engine is idling for a relatively long time, the values of the integral components are stored in a memory of the specification 140 as a function of operating parameters. As memory are particularly suitable E 2 PROM. This procedure ensures that always the current values that are valid for this internal combustion engine are stored in the E 2 PROM.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Laufruheregelung einer Brennkraftmaschine gemäß den Oberbegriffen der unabhängigen Ansprüche.The invention relates to a method and a device for restoring control of an internal combustion engine according to the preambles of the independent claims.
Ein Verfahren und eine Vorrichtung zur Laufruheregelung einer Brennkraftmaschine sind aus der DE 33 36 028 bekannt. Dort wird ausgehend von einem Drehzahlsignal ein Soll- und ein Istwert für jeden Zylinder gebildet. Den einzelnen Zylindern ist jeweils ein Regler zugeordnet, der ausgehend von dem Vergleich zwischen einem zylinderindividuellen Istwert und einem gemeinsamen Sollwert eine Stellgröße zur Ansteuerung eines mengenbestimmenden Stellgliedes vorgibt. Dadurch wird eine Gleichstellung, der von den einzelnen Zylindern bereitgestellten Drehmomente, erreicht. Die den einzelnen Zylindern zugeordneten Regler weisen wenigstens integrales Verhalten auf. Beim Motorstart werden die Integralanteile vorzugsweise mit einem festen Wert insbesondere mit dem Wert 0 initialisiert. Ausgehend von diesem Startwert werden dann im Betrieb die Integratorwerte bestimmt. Dies führt dazu, dass beim Start der Brennkraftmaschine die Laufruheregelung erst nach einer kurzen Verzögerungszeit ihre volle Wirksamkeit erlangt. Dies führt beim Neustart der Brennkraftmaschine zu Mengenfehlem bei den einzelnen Zylindern. Diese Mengenfehler können erhöhte Abgasemissionen bzw. Komforteinbussen zur Folge haben.A method and a device for restraint control of an internal combustion engine are known from DE 33 36 028. There, based on a speed signal, a setpoint and an actual value are formed for each cylinder. The individual cylinders are each assigned a controller which, based on the comparison between a cylinder-specific actual value and a common setpoint, predefines a control variable for controlling a quantity-determining actuator. This achieves equality, the torques provided by the individual cylinders. The controllers associated with the individual cylinders have at least integral behavior. When starting the engine, the integral parts are preferably initialized with a fixed value, in particular with the value 0. Starting from this starting value, the integrator values are then determined during operation. As a result, at the start of the internal combustion engine, the tiller control reaches its full effectiveness only after a short delay time. This results in restarting the engine to Mengenfehlem at the individual cylinders. These quantity errors can result in increased exhaust emissions or loss of comfort.
Aus der US 4,742,462 ist ein Verfahren und eine Vorrichtung zur Regelung der Drehzahl einer Brennkraftmaschine bekannt, bei dem zwischen einem Betrieb mit Einzelzylinderregelung und einem Betrieb mit globaler Regelung unterschieden wird. Die Umschaltung zwischen dem Einzelzylinder Regelbetrieb und dem globalen Regelbetrieb erfolgt abhängig von der Temperatur der Brennkraftmaschine. Auch bei einer solchen Einrichtung tritt die Problematik auf, dass der I-Anteil zu initialisieren ist. Dies wird hier dadurch gelöst, dass beim Übergang vom Einzelzylinder Regelbetrieb auf den globalen Regelbetrieb, die Integralanteile abgespeichert und bei der nächsten Inbetriebnahme der Einzelzylinderregelung wieder verwendet werden. Die Umschaltung zwischen dem Einzelzylinder Regelbetrieb und dem globalen Regelbetrieb erfolgt abhängig von der Temperatur. Wird in den Einzelzylinder Regelbetrieb übergegangen, so werden die beim vorhergehenden Abschalten abgespeicherten Werte der Integralanteile zur Initialisierung der Integralanteile verwendet. Diese Initialisierungswerte sind völlig unabhängig von der Temperatur. Lediglich der Umschaltung zwischen dem Einzelzylinder Regelbetrieb und dem globalen Regelbetrieb hängt von der Temperatur ab. Die Initialisierungswerte dagegen sind unabhängig von der Temperatur.From US 4,742,462 a method and an apparatus for controlling the speed of an internal combustion engine is known in which a distinction is made between a single-cylinder control operation and a global control operation. The switching between the single cylinder control mode and the global control mode is dependent on the temperature of the internal combustion engine. Even with such a device, the problem arises that the I component is to be initialized. This is achieved here by the fact that during the transition from the single cylinder control mode to the global control mode, the integral parts are stored and used again at the next startup of the single cylinder control. The changeover between the single cylinder control mode and the global control mode is dependent on the temperature. If control mode is transferred to the single cylinder, the values of the integral parts stored during the previous shutdown are used to initialize the integral parts. These initialization values are completely independent of the temperature. Only the switching between the single cylinder control mode and the global control mode depends on the temperature. The initialization values are independent of the temperature.
Dadurch dass beim Einschalten des Reglers der integrale Anteil mit einem, ausgehend von Betriebskenngrößen vorgegebenen Wert, initialisiert wird, können die Auswirkungen der Mengenfehler deutlich reduziert werden. Dadurch kann gewährleistet werden, dass unterschiedliche Korrekturwerte bei unterschiedlichen Betriebsbedingungen berücksichtigt werden können. Einen sehr großen Einfluss auf die Korrekturwerte hat dabei die Temperatur, wobei insbesondere die Temperatur der Brennkraftmaschine relevant ist und einen sehr großen Einfluss besitzt.The fact that, when the controller is switched on, the integral component is initialized with a value based on operating parameters, the effects of the quantity errors can be significantly reduced. This can ensure that different correction values can be taken into account under different operating conditions. In this case, the temperature has a very great influence on the correction values, with the temperature of the internal combustion engine, in particular, being relevant and having a very large influence.
Die Erfindung wird nachstehend anhand der in der Zeichnung dargestellten Ausführungsformen näher erläutert. Es zeigen die Figur ein Blockdiagramm der erfindungsgemäßen Vorrichtung.The invention will be explained in more detail below with reference to the embodiments shown in the drawing. The figure shows a block diagram of the device according to the invention.
In Figur 1 ist die erfindungsgemäße Vorgehensweise anhand eines Blockdiagrammes dargestellt. Mit 100 ist ein Stellelement dargestellt, dass die Leistungsabgabe der Brennkraftmaschine beeinflusst. Hierbei handelt es sich vorzugsweise um ein Magnetventil oder einen Piezosteller, der die einzuspritzende Kraftstoffmenge und/oder den Einspritzbeginn beeinflusst. Mit 105 ist ein Drehzahlsensor bezeichnet. Der Drehzahlsensor beaufschlagt eine Sollwertvorgabe 110 und eine Istwertvorgabe 115 mit einem Drehzahlsignal. Die Istwertvorgabe 115 und die Sollwertvorgabe 110 beaufschlagt einen ersten Verknüpfungspunkt 120 sowie einen zweiten Verknüpfungspunkt 130. Von den Verknüpfungspunkten 120 und 130 gelangt das Signal jeweils zu einem Regler 125 bzw. 135. Die Regler 125 bzw. 135 beaufschlagen das Stellelement 100 mit einem entsprechenden Ansteuersignal. Desweiteren tauschen die Regler 125 und 135 mit einer Vorgabe 140 Signale aus. Die Vorgabe 140 verarbeitet das Ausgangssignal eines Sensors 150, der Betriebskenngrößen erfaßt.FIG. 1 shows the procedure according to the invention on the basis of a block diagram. With 100, an actuating element is shown that affects the power output of the internal combustion engine. This is preferably a solenoid valve or a piezoelectric actuator, which influences the amount of fuel to be injected and / or the start of injection. 105 denotes a speed sensor. The speed sensor acts on a
Figur 1 ist lediglich ein Stellelement 100 dargestellt. Die Erfindung kann auch derart ausgestaltet sein, dass jedem Regler und damit jedem Zylinder ein Stellelement zugeordnet ist. In der Darstellung in Figur 1 sind lediglich ein erster und ein zweiter Regler dargestellt. Üblicherweise ist jedem Zylinder der Brennkraftmaschine ein Regler und ein Stellelement zugeordnet. Das bedeutet, es ist für jeden Zylinder ein Regler und ein Stellelement vorhanden bzw. ein oder mehrere Regler bilden die Ansteuersignale für die den einzelenen Zylindern zugeordneten Stellelemente.Figure 1, only one
Die Sollwertvorgabe 110 bestimmt ausgehend von der Drehzahl N einen Sollwert S für die Regler. Die Istwertvorgabe 115 bestimmt für jeden Regler, d.h. für jeden Zylinder einen zylinderindividuellen Istwert I. Ausgehend von in den Verknüpfungspunkten 120 und 130 ermittelten Regelabweichungen bestimmen die Regler 125 und 135 die Stellgrößen. Mit diesen Stellgrößen wird das Stellelement beaufschlagt.The
Dabei ist die Bestimmung der Istwerte, der Sollwerte und die Regelung durch die Regler 125 und 135 derart ausgebildet, dass das von der Brennkraftmaschine abgegebene Drehmoment der einzelnen Zylinder gleichgestellt ist, d.h. jeder Zylinder der Brennkraftmaschine trägt das gleiche Drehmoment zum Gesamtdrehmoment bei. Bei einer anderen Ausgestaltung, die auch als Mengenausgleichsregelung bezeichnet wird, erfolgt die Regelung derart, dass allen Zylindern die gleiche Kraftstoffmenge zugemessen wird. Die Regelung erfolgt derart, daß alle Zylinder bezüglich einer Größe, die die Verbrennung charakterisiert, gleichgestellt werden.In this case, the determination of the actual values, the desired values and the control by the
Die Regler 125 und/oder 135 beinhalten im wesentlichen einen integralen Anteil. Der integrale Anteil charakterisiert die Abweichung der einzuspritzenden Kraftstoffmenge jedes einzelnen Zylinders von den übrigen Zylindern.The
Beim Neustart der Brennkraftmaschine werden die Regler üblicherweise initialisiert, d.h. die Werte der Integratoren werden mit einem Startwert, der in der Regel den Wert 0 annimmt, gesetzt. Dies hat zur Folge, dass zu Beginn des Betriebs der Brennkraftmaschine eine sehr große Abweichung von den gewünschten Werten auftritt. Erst nach Ablauf einer gewissen Zeit nehmen die Integratoren die notwendigen Werte an, die zur Zylindergleichstellung bzw. zur Laufruheregelung notwendig sind. Um diese Verzögerungszeit zu minimieren wird erfindungsgemäß derart vorgegangen, dass die Vorgabe 140 die Integratoren beim Start mit vorgebbaren Werten initialisiert. D.h. in die Integratoren werden bestimmte Werte, die in der Vorgabe 140 abgespeichert sind, eingeschrieben.When restarting the internal combustion engine, the controllers are usually initialized, i. the values of the integrators are set with a start value, which usually assumes the value 0. This has the consequence that at the beginning of the operation of the internal combustion engine, a very large deviation from the desired values occurs. Only after a certain time has elapsed do the integrators assume the necessary values which are necessary for the cylinder equalization or for the smooth running control. In order to minimize this delay time, the procedure according to the invention is such that the
Dies bedeutet, beim Einschalten des Reglers wird der integrale Anteil mit einem vorgebbaren Wert initialisiert. Dabei wird der vorgebbare Wert abhängig von Betriebskenngrößen, die mittels Sensoren 150 erfaßt werden, vorgegeben. Dabei werden vorzugsweise Betriebskenngrößen der Brennkraftmaschine verwendet. Solche Betriebskenngrößen sind insbesondere Temperaturwerte. Als besonders vorteilhaft hat sich dabei die Temperatur der Brennkraftmaschine oder eine Größe, die die Temperatur der Brennkraftmaschine charakterisiert, als geeignet erwiesen. So kann beispielsweise die Temperatur des Kühlwassers, des Kraftstoffs und/oder des Motorölsmittels mittels eines Sensors 150 erfaßt werden. Dabei wird die Kraftstofftemperatur an geeigneter Stelle des Kraftstoffsystems gemessen. So kann beispielsweise die Kraftstofftemperatur bei einem Common-Rail-System im Rail, in der Leitung zu den Injektoren, im Rücklauf zwischen den Injektoren und dem Niederdruckbereich und/oder in der Hochdruckpumpe gemessen werden. Anstelle der Temperatur oder zusätzlich zur Temperatur wird vorzugsweise die Motorlast berücksichtigt. Als eine die Motorlast charakterisierende Größe wird das Drehmoment und/oder die Einspritzmenge verwendet.This means that when the controller is switched on, the integral component is initialized with a predefinable value. In this case, the predefinable value is predefined as a function of operating parameters which are detected by means of
Üblicherweise werden die Kennfeldwerte im Rahmen der Applikation erfaßt und in einem Speicher abgelegt. Besonders vorteilhaft ist es, wenn die Kennfeldwerte laufend neu berechnet und entsprechend abgelegt werden. So kann beispielsweise vorgesehen sein, dass im eingeregelten Zustand, beispielsweise wenn sich die Brennkraftmaschine längere Zeit im Leerlauf befindet, die Werte der Integral-Anteile abhängig von Betriebskenngrößen in einem Speicher der Vorgabe 140 abgelegt werden. Als Speicher eignen sich insbesondere ein E2PROM. Durch diese Vorgehensweise ist gewährleistet, dass immer die aktuellen Werte, die für diese Brennkraftmaschine gültig sind, in dem E2PROM abgelegt sind.Usually, the map values are detected within the scope of the application and stored in a memory. It is particularly advantageous if the map values are continuously recalculated and stored accordingly. For example, it may be provided that in the adjusted state, for example when the internal combustion engine is idling for a relatively long time, the values of the integral components are stored in a memory of the
Besonders vorteilhaft ist es, wenn die Initialisierung der Integral-Anteile auch bei einem Einschalten der Regler nach einem Zeitabschnitt, in dem der Regler nicht aktiv war, erfolgt. It is particularly advantageous if the initialization of the integral components also takes place when the controllers are switched on after a period of time in which the controller was not active.
Claims (5)
- Method for controlling an internal combustion engine, each cylinder being assigned a controller which has at least an integral component, characterized in that when the controller is switched on, the integral component is initialized with a value which is predefined on the basis of characteristic operating variables of the internal combustion engine, said value being stored in a characteristic diagram as a function of characteristic operating variables.
- Method according to Claim 1, characterized in that the control is implemented in such a way that all the cylinders are equalized with respect to a variable which characterizes the combustion.
- Method according to one of the preceding claims, characterized in that during operation, the values can be stored as a function of characteristic operating variables.
- Method according to one of the preceding claims, characterized in that a temperature variable, in particular the temperature of the internal combustion engine or of the fuel, and/or a variable which characterizes the load of the internal combustion engine is used as a characteristic operating variable.
- Device for controlling an internal combustion engine, each cylinder being assigned a controller which has at least an integral component, characterized in that means are provided which, when the controller is switched on, initialize the integral component with a value which is predefined on the basis of characteristic operating variables of the internal combustion engine, said value being stored in a characteristic diagram as a function of characteristic operating variables.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2000107205 DE10007205A1 (en) | 2000-02-17 | 2000-02-17 | Method and device for regulating the running smoothness of an internal combustion engine |
DE10007205 | 2000-02-17 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1126150A2 EP1126150A2 (en) | 2001-08-22 |
EP1126150A3 EP1126150A3 (en) | 2002-05-29 |
EP1126150B1 true EP1126150B1 (en) | 2006-09-13 |
Family
ID=7631278
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP20000125643 Expired - Lifetime EP1126150B1 (en) | 2000-02-17 | 2000-11-23 | Method and device for controlling the smooth running of an internal combustion engine |
Country Status (2)
Country | Link |
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EP (1) | EP1126150B1 (en) |
DE (2) | DE10007205A1 (en) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3336028C3 (en) * | 1983-10-04 | 1997-04-03 | Bosch Gmbh Robert | Device for influencing control variables of an internal combustion engine |
GB2165065B (en) * | 1984-09-22 | 1988-02-10 | Diesel Kiki Co | Idling control of ic engines |
JPS61212644A (en) * | 1985-03-19 | 1986-09-20 | Diesel Kiki Co Ltd | Idle operation control device for internal-combustion engine |
DE4319677C2 (en) * | 1993-06-14 | 2002-08-01 | Bosch Gmbh Robert | Method and device for regulating the smooth running of an internal combustion engine |
DE19706126C2 (en) * | 1997-02-17 | 2002-08-29 | Siemens Ag | Method for regulating an internal combustion engine in the area of the lean limit |
-
2000
- 2000-02-17 DE DE2000107205 patent/DE10007205A1/en not_active Withdrawn
- 2000-11-23 EP EP20000125643 patent/EP1126150B1/en not_active Expired - Lifetime
- 2000-11-23 DE DE50013464T patent/DE50013464D1/en not_active Expired - Lifetime
Also Published As
Publication number | Publication date |
---|---|
EP1126150A3 (en) | 2002-05-29 |
DE10007205A1 (en) | 2001-09-06 |
DE50013464D1 (en) | 2006-10-26 |
EP1126150A2 (en) | 2001-08-22 |
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